Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 36 for “"Sensor Suite"”.
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Mini Cheetah Sensor Suite for Visual Perception
… conducted at the University of Michigan, where a sensor suite for collecting perception data has been created. While the sensor suite is able to collect perception data, it is heavy and affects the agility of the mini cheetah robot and does not incorporate any active stabilization into the design. …
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Development of an Exteroceptive Sensor Suite on Unmanned Surface Vessels for Real-Time Classification of Navigational Markers
… presents the development of an exteroceptive sensor suite for real-time detection and classification of navigational markers on Unmanned Surface Vessels. Three sensors were used to complete this task: a 3D LIDAR and two visible light cameras. First, all LIDAR points were transformed from the …
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Design and control of an autonomous destroyer model
… is described, and the preliminary data from the sensor suite to be used for feedback control is analyzed. Based on the short duration of tests, the angular rate sensors are relied upon to correct for gravitational contributions in pitch while stabilized roll is used for sway correction. Signal …
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An Invariant Extended Kalman Filter for Indirect Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle
… thermodynamic state of the ABL using dedicated sensors that directly measure pressure, temperature, and humidity whereas the kinematic state (wind velocity) can be measured directly, using, for example, a five-hole Pitot probe or a sonic anemometer mounted on an aircraft, or indirectly. Indirect …
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Comparison of Methods for Estimating Instantaneous Turn Radius of Ackermann Steering Vehicles
… will be conducted with commonly available sensors. The research in this thesis will allow developers to choose the best method for their sensor suite.</p>
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Kalman filter estimation of underwater vehicle position and attitude using Doppler velocity aided inertial motion unit
… and attitude. The types of previously available sensors are detailed including strapdown accelerometers, roll and pitch sensors, gyro and magnetic compasses, depth sensor, and various types of acoustic positioning systems. A doppler velocimeter is added to this sensor suite to improve the …
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Multirotor UAS Sense and Avoid with Sensor Fusion
… and post-processing of real-world data. A sensor suite comprised of a 3D Light Detection and Ranging (LIDAR) sensor, visual camera, and 9 Degree of Freedom (DOF) Inertial Measurement Unit (IMU) was found to be beneficial to autonomous UAS SAA in urban environments. Promising results are …
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Autonomous ground cover clearing utilizing a robotic wheel loader
… driven with hydraulic articulation. The sensor suite comprises a depth camera used for Simultaneous Localization and Mapping (SLAM) and material detection. Potentiometers for joint positioning, motor encoder for distance measurements and an ultrasonic rear sensor for obstruction detection …
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MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for autonomous underwater vehicles
… error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single beacon …
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MEMS IMU inertial measurement unit one-way-travel-time inertial measurement unit autonomous underwater vehicles
… error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single beacon …
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Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles
… to simulate the errors suspected with the REMUS sensor suite. Results of this effort were applied to a small at sea test in 3,300 meters with the REMUS 6000 deep water AUV. A more detailed test was executed in Buzzard's Bay, Massachusetts, in 20 meters of water with a REMUS 100 AUV focusing on …
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Prioritized text spotting using SLAM
… and effective text detection and decoding for a sensor suite moving through an environment rich in text at a variety of scales and orientations with respect to the observer. We use simultaneous localization and mapping (SLAM) to isolate planar "tiles" representing scene surfaces and prioritize …
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An Exploration of the Acoustic Detection and Localization of Small Uncrewed Aerial Systems
… reduce noise. A final recommendation of a multi-sensor suite of microphones, cameras, along with other potential sensors, is determined.
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Wearable sensing analysis : identifying alcohol drinking from daily physiological data
… Simple, they would be just smartphone and a vest suite with sensor in it, those are already our daily-carry personal stuffs. Smartphone application will be in charge of communicating with sensor suite and server wirelessly and safely. We then can get large numbers of detailed physiological …
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A shoe-integrated sensor system for wireless gait analysis and real-time therapeutic feedback
… relevant to gait analysis. The extensive sensor suite includes three orthogonal accelerometers, and three orthogonal gyroscopes, four force sensors, two bi-directional bend sensors, two dynamic pressure sensors, as well as electric field height sensors. The "GaitShoe" was built to be worn …
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Linear covariance analysis trade study of autonomous navigation schemes for cislunar missions
… study on various configurations of autonomous sensors for a representative cislunar mission. The sensor suite is comprised of twelve sensors of varying measurement types and levels of flight readiness: MIMU IMU, LN200 IMU, star tracker, Inertial Stellar Compass (ISC), lunar orbiting beacon …
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Comparative Analysis of Lightweight Robotic Wheeled and Tracked Vehicle
… be outfitting a light robotic vehicle with a sensor suite capable of capturing relevant mobility criteria. The third stage of this study will be an experimental investigation of the mobility capability of the vehicle. Finally the fourth stage will include quantitative and qualitative …
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Development of the "Discretized Dynamic Expanding Zones with Memory" Autonomous Mobility Algorithm for the Nemesis Tracked Vehicle Platform
… teleoperational control and is outfitted with a sensor suite used for detecting and neutralizing landmines. Because the detection process requires the vehicle to travel at speeds less than 0.5 km/h, teleoperation is a tedious process. The added autonomous capabilities of waypoint navigation and …
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Real Time SLAM Using Compressed Occupancy Grids For a Low Cost Autonomous Underwater Vehicle
… vehicle with localization information. The sensor suite composed of the laser rangefinder, downward facing camera, and a digital compass are verified, using the Extended Kalman Filter based solution to the SLAM problem along with the particle filter based solution known as FastSLAM, to …
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